JP2831204B

PURPOSE:To highly accurately, inexpensively and efficiently execute the positional detection of plural mobile bodies in a working area. CONSTITUTION:The moving routes of working vehicles 2a to 2c are scanned by a scanner 7 arranged on a fixed station 1 set up on a reference position in a working area at fixed points with a prescribed interval, and when the vehicles 2a to 2c autonomously traveling along the route 3 are collimated by the scanner 7, distances up to the vehicles 2a to 2c are measured by a distance sensor 8 and the positions of the vehicles 2a to 2c are measured based on the distance data and angular data measured by a horizontal angle measure and a vertical angle measure.